ardupilot/AntennaTracker/sensors.cpp

105 lines
2.7 KiB
C++

#include "Tracker.h"
/*
update INS and attitude
*/
void Tracker::update_ahrs()
{
ahrs.update();
}
/*
initialise compass's location used for declination
*/
void Tracker::init_compass_location(void)
{
// update initial location used for declination
if (!compass_init_location) {
Location loc;
if (ahrs.get_position(loc)) {
compass.set_initial_location(loc.lat, loc.lng);
compass_init_location = true;
}
}
}
/*
read and update compass
*/
void Tracker::update_compass(void)
{
if (AP::compass().enabled() && compass.read()) {
ahrs.set_compass(&compass);
}
}
// Save compass offsets
void Tracker::compass_save() {
if (AP::compass().enabled() &&
compass.get_learn_type() >= Compass::LEARN_INTERNAL &&
!hal.util->get_soft_armed()) {
compass.save_offsets();
}
}
/*
Accel calibration
*/
void Tracker::accel_cal_update() {
if (hal.util->get_soft_armed()) {
return;
}
ins.acal_update();
float trim_roll, trim_pitch;
if (ins.get_new_trim(trim_roll, trim_pitch)) {
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
}
}
/*
read the GPS
*/
void Tracker::update_GPS(void)
{
gps.update();
static uint32_t last_gps_msg_ms;
static uint8_t ground_start_count = 5;
if (gps.last_message_time_ms() != last_gps_msg_ms &&
gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
last_gps_msg_ms = gps.last_message_time_ms();
if (ground_start_count > 1) {
ground_start_count--;
} else if (ground_start_count == 1) {
// We countdown N number of good GPS fixes
// so that the altitude is more accurate
// -------------------------------------
if (current_loc.lat == 0 && current_loc.lng == 0) {
ground_start_count = 5;
} else {
// Now have an initial GPS position
// use it as the HOME position in future startups
current_loc = gps.location();
if (!set_home(current_loc)) {
// silently ignored
}
if (AP::compass().enabled()) {
// Set compass declination automatically
compass.set_initial_location(gps.location().lat, gps.location().lng);
}
ground_start_count = 0;
}
}
}
}
void Tracker::handle_battery_failsafe(const char* type_str, const int8_t action)
{
// NOP
// useful failsafes in the future would include actually recalling the vehicle
// that is tracked before the tracker loses power to continue tracking it
}